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- <launch>
- <param name="pub_map_odom_transform" value="true"/>
- <param name="map_frame" value="map"/>
- <param name="base_frame" value="base_frame"/>
- <param name="odom_frame" value="base_frame"/>
- <node pkg="tf" type="static_transform_publisher" name="map_2_base_footprint" args="0 0 0 0 0 0 /map /base_footprint 100"/>
- <node pkg="tf" type="static_transform_publisher" name="base_footprint_base_link" args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
- <node pkg="tf" type="static_transform_publisher" name="base_link_2_base_stabilized_link" args="0 0 0 0 0 0 /base_link /base_stabilized 100"/>
- <node pkg="tf" type="static_transform_publisher" name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/>
- <node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_frame /camera_link 100"/>
- <node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>
- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>
- <include file="$(find hector_mapping)/launch/mapping_default.launch"/>
- <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
- </launch>
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